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\deftab720
\pard\pardeftab720\partightenfactor0

\f0\b\fs18 \cf0 Info
\f1\b0 \
\
Test designer: C\'e9dric Godin\
Creation date:    18/03/2019\ul \
\ulnone ID Jira: 	SEC-335\
Test Title: Pioneer Odometry Testing\ul \
\ulnone \
\

\f0\b Test description 
\f1\b0 \
\
Test objectives and goals: \
Validate tf dynamic transform from odom to base_footprint\
\
Sub-system(s): \
Pioneer, navigation, roboclaw\ul \
\ulnone \
Component(s) (devices and test equipment):\
Pioneer\
Roclaw\
Jetson\
Latptop (for monitoring)\ul \
\
\ulnone Environment (location, conditions): 1033\ul \
\
\ulnone Test Procedure (include files and illustrations): \
\pard\pardeftab720\li-720\fi360\partightenfactor0
\cf0 Launch securbot_pkg/lauch/navigation.launch\
\
\pard\pardeftab720\partightenfactor0
\cf0 \
Test paramters and inputs (limits, tolerances, settings): \
Cartesian motion of robot by hand\
Display referential on rviz\ul \
\
\ulnone Expected results: \
Base footprint follows robot motion\ul \
\
\ulnone \

\f0\b Security\
\

\f1\b0 Potential risks:\
[ \cf2 YES \cf0 / NO ]	Mechanical equipment damages (high speeds, sharp objects, projectiles)\
[ \cf2 YES \cf0 / NO ]	Electrical equipment damages (high power, reverse polarity, ESD, shorts)\
[ \cf2 YES \cf0 / NO ]	Thermal hazards (power dissipation, friction, heat-sensitive/flamable components)\
[ \cf2 YES \cf0 / NO ]	Chemicals (batteries, contaminants, exposition, airborne particles)\
[ \cf2 YES \cf0 / NO ]	New components (first tests, original/student designs)\
[ \cf2 YES \cf0 / NO ]	Human risks (operator proximity, ergonomics, environment, bystanders)\
[ \cf2 YES \cf0 / NO ]	Others: _______________________________\
___________________________________________________\
___________________________________________________\ul \
\
\ulnone Risk mitigation:\
\
Neutralization at the source: _____________________________\
___________________________________________________\
\
Collective protections: _________________________________\
___________________________________________________\
\
Personal protections: _________________________________\
__________________________________________________\ul \
\ulnone \
\

\f0\b Approbation \
\

\f1\b0 Approved by: ______________________\
Date: ________________________\
\
\

\f0\b Test Results\
\

\itap1\trowd \taflags1 \trgaph108\trleft-108 \trbrdrt\brdrnil \trbrdrl\brdrnil \trbrdrr\brdrnil 
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf3 \clbrdrl\brdrs\brdrw20\brdrcf3 \clbrdrb\brdrs\brdrw20\brdrcf3 \clbrdrr\brdrs\brdrw20\brdrcf3 \clpadl100 \clpadr100 \gaph\cellx2160
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf3 \clbrdrl\brdrs\brdrw20\brdrcf3 \clbrdrb\brdrs\brdrw20\brdrcf3 \clbrdrr\brdrs\brdrw20\brdrcf3 \clpadl100 \clpadr100 \gaph\cellx4320
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf3 \clbrdrl\brdrs\brdrw20\brdrcf3 \clbrdrb\brdrs\brdrw20\brdrcf3 \clbrdrr\brdrs\brdrw20\brdrcf3 \clpadl100 \clpadr100 \gaph\cellx6480
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf3 \clbrdrl\brdrs\brdrw20\brdrcf3 \clbrdrb\brdrs\brdrw20\brdrcf3 \clbrdrr\brdrs\brdrw20\brdrcf3 \clpadl100 \clpadr100 \gaph\cellx8640
\pard\intbl\itap1\pardeftab720\partightenfactor0

\f1\b0 \cf0 Tester\cell 
\pard\intbl\itap1\pardeftab720\partightenfactor0
\cf0 Time & date\cell 
\pard\intbl\itap1\pardeftab720\partightenfactor0
\cf0 Results\cell 
\pard\intbl\itap1\pardeftab720\partightenfactor0
\cf0 Comments\cell \row

\itap1\trowd \taflags1 \trgaph108\trleft-108 \trbrdrl\brdrnil \trbrdrt\brdrnil \trbrdrr\brdrnil 
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf3 \clbrdrl\brdrs\brdrw20\brdrcf3 \clbrdrb\brdrs\brdrw20\brdrcf3 \clbrdrr\brdrs\brdrw20\brdrcf3 \clpadl100 \clpadr100 \gaph\cellx2160
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf3 \clbrdrl\brdrs\brdrw20\brdrcf3 \clbrdrb\brdrs\brdrw20\brdrcf3 \clbrdrr\brdrs\brdrw20\brdrcf3 \clpadl100 \clpadr100 \gaph\cellx4320
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf3 \clbrdrl\brdrs\brdrw20\brdrcf3 \clbrdrb\brdrs\brdrw20\brdrcf3 \clbrdrr\brdrs\brdrw20\brdrcf3 \clpadl100 \clpadr100 \gaph\cellx6480
\clvertalc \clshdrawnil \clbrdrt\brdrs\brdrw20\brdrcf3 \clbrdrl\brdrs\brdrw20\brdrcf3 \clbrdrb\brdrs\brdrw20\brdrcf3 \clbrdrr\brdrs\brdrw20\brdrcf3 \clpadl100 \clpadr100 \gaph\cellx8640
\pard\intbl\itap1\pardeftab720\qr\partightenfactor0
\cf0 C\'e9dric Godin\cell 
\pard\intbl\itap1\pardeftab720\qr\partightenfactor0
\cf0 18-03-2019\cell 
\pard\intbl\itap1\pardeftab720\qr\partightenfactor0
\cf0 Forward/Reverse OK, Front/Rear are reversed after the robot turn for 90\'b0/-90\'b0\cell 
\pard\intbl\itap1\pardeftab720\qr\partightenfactor0
\cf0 Motors connexions mismatch assumption in roboclaw node code, node will be corrected. Hypothesis is to add pi to rotation angle.\cell \lastrow\row
\pard\pardeftab720\partightenfactor0

\f0\b \cf0 \
Comments\
\

\f1\b0 __________________________________________________
\f0\b \
}